diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index f371749..1f387b3 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -390,6 +390,8 @@ class RobotTCP(TcpDevice, Stoppable):
     #High-level, exclusive motion task.
     def start_task(self, program, *args,  **kwargs):
         tasks = [t for t in self.high_level_tasks]
+        if (self.current_task is not None) and (not self.current_task in tasks): 
+            tasks.append(pro)
         if not program in tasks: 
             tasks.append(pro)
         for task in tasks:
@@ -400,9 +402,9 @@ class RobotTCP(TcpDevice, Stoppable):
         time.sleep(0.5) #get_task_status needs time
         
     def stop_task(self):
-        tasks = [] #[t for t in self.high_level_tasks]
+        tasks = [] # [t for t in self.high_level_tasks]
         if (self.current_task is not None) and (not self.current_task in tasks): 
-            tasks.append(pro)
+            tasks.append(self.current_task)
         for task in tasks:
             if self.get_task_status(task)[0]>=0:
                 time.sleep(0.2)